Constant work tool angle control
First Claim
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1. A method of controlling a work tool connected to a machine, the work tool having a working angle defined with respect to a design surface gradient, the method comprising the steps of:
- locating the design surface gradient;
determining a position of the work tool relative to the design surface gradient;
monitoring movement of at least a component of the machine;
determining, with a control module, an efficient working angle for the work tool based on at least the located design surface gradient, data from force sensors and the position of the work tool;
determining a current work angle of the work tool; and
adjusting, with a control module, the current work angle of the work tool to approximate the efficient working angle of the work tool based upon the movement of the component of the machine and the distance from the design surface gradient to the work tool.
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Abstract
A method of controlling a work tool with respect to a design surface gradient identifies surface gradient and determines a desired angle for the work tool. Movement of the machine is monitored and the distance between the design surface gradient and the work tool is determined. The angle of the work tool is varied based on one or more of these parameters.
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Citations
20 Claims
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1. A method of controlling a work tool connected to a machine, the work tool having a working angle defined with respect to a design surface gradient, the method comprising the steps of:
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locating the design surface gradient; determining a position of the work tool relative to the design surface gradient; monitoring movement of at least a component of the machine; determining, with a control module, an efficient working angle for the work tool based on at least the located design surface gradient, data from force sensors and the position of the work tool; determining a current work angle of the work tool; and adjusting, with a control module, the current work angle of the work tool to approximate the efficient working angle of the work tool based upon the movement of the component of the machine and the distance from the design surface gradient to the work tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for controlling the movement of a work tool connected to a machine comprising:
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a work implement assembly connected to the work tool, the work implement assembly adapted to vary the position of the work tool in response to a position control signal; a first sensor associated with the work implement assembly disposed to determine the position of the work implement assembly and to provide a first position sensing signal; a second sensor associated with the work implement assembly disposed to determine a position of the work tool and to provide a second position sensing signal; a third sensor associated with the work implement assembly disposed to determine a force on the work tool and to provide a force sensing signal; at least one input device disposed to generate an input control signal indicating a desired change to the position of the work implement assembly; a processor disposed to receive the input control signal, the first position sensing signal, the second position sensing signal, the force sensing signal, to calculate a desired position of the work implement assembly and to provide the position control signal to the work implement assembly to set the work tool to an appropriate efficient physical position. - View Dependent Claims (12, 13, 14, 15)
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16. A computer readable medium having computer-executable instructions for controlling a work tool connected to a machine, the computer-executable instructions comprising:
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instructions for locating a design surface gradient; instructions for determining a position of the work tool relative to the design surface gradient; instructions for monitoring movement of at least a component of the machine; instructions for determining, with a control module, an efficient working angle for the work tool based on at least the located design surface gradient, data from force sensors and the position of the work tool; instructions for determining a current work angle of the work tool; and instructions for adjusting, with a control module, the current work angle of the work tool to approximate the efficient working angle of the work tool based upon the movement of the component of the machine and the distance from the design surface gradient to the work tool. - View Dependent Claims (17, 18, 19, 20)
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Specification